She played the role of Julia Santos Keefer on the soap operaAll My Children, from 1993 to 1996, with guest appearances in 1997 and 2002 and returned to the show in 2005. Penny left the show in May 2008 when Julia was killed off.

In August 2003, she was cast as Samantha Kelly on The Bold and the Beautiful.[2] The character never caught on and Penny was bumped to recurring status in late 2004. She last appeared on April 26, 2005, and rejoined All My Children a few months later. She stayed with the show for an additional three years.